US9724162B2 - Apparatus and method for controlling an end-effector assembly - Google Patents
Apparatus and method for controlling an end-effector assembly Download PDFInfo
- Publication number
- US9724162B2 US9724162B2 US14/261,614 US201414261614A US9724162B2 US 9724162 B2 US9724162 B2 US 9724162B2 US 201414261614 A US201414261614 A US 201414261614A US 9724162 B2 US9724162 B2 US 9724162B2
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- Prior art keywords
- pulley
- axis
- pulleys
- cable
- cables
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title description 7
- 239000011810 insulating material Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 description 23
- 238000001356 surgical procedure Methods 0.000 description 11
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- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 229910000811 surgical stainless steel Inorganic materials 0.000 description 3
- 239000010966 surgical stainless steel Substances 0.000 description 3
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Images
Classifications
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- A61B19/2203—
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22031—Gripping instruments, e.g. forceps, for removing or smashing calculi
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00982—General structural features
- A61B2017/00991—Telescopic means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22038—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with a guide wire
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
Description
Claims (24)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CA2011/001226 WO2013063675A1 (en) | 2011-11-04 | 2011-11-04 | Apparatus and method for controlling an end-effector assembly |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CA2011/001226 Continuation WO2013063675A1 (en) | 2011-11-04 | 2011-11-04 | Apparatus and method for controlling an end-effector assembly |
Publications (2)
Publication Number | Publication Date |
---|---|
US20140276956A1 US20140276956A1 (en) | 2014-09-18 |
US9724162B2 true US9724162B2 (en) | 2017-08-08 |
Family
ID=48191132
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/261,614 Active 2032-11-19 US9724162B2 (en) | 2011-11-04 | 2014-04-25 | Apparatus and method for controlling an end-effector assembly |
Country Status (3)
Country | Link |
---|---|
US (1) | US9724162B2 (en) |
EP (1) | EP2773277B1 (en) |
WO (1) | WO2013063675A1 (en) |
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US11957347B2 (en) | 2022-02-15 | 2024-04-16 | Boston Scientific Scimed Inc. | Devices, systems, and methods for torque amplification in medical systems |
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2011
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2014
- 2014-04-25 US US14/261,614 patent/US9724162B2/en active Active
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US20140276956A1 (en) | 2014-09-18 |
WO2013063675A1 (en) | 2013-05-10 |
EP2773277B1 (en) | 2016-03-02 |
EP2773277A1 (en) | 2014-09-10 |
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